File content as of revision 0:f9b3d6a82c03:

// CAN_MONITOR with filtering  2012/03/21 ym1784
 
#include "mbed.h"
#include "CAN.h"
 
Serial pc(USBTX, USBRX); // tx, rx
DigitalOut led2(LED2);
DigitalOut led1(LED1); 
 // Tiker for sending messges 
 Ticker ticker;
 
 int CAN_ID = 1;
 char counter = 1;
 
// CAN2 on mbed pins 29(CAN_TXD) and 30(CAN_RXD) using MCP2551.
CAN can2(p30, p29);
CAN can1(p9, p10);
/*--------------------------------------------
  setup acceptance filter for CAN controller 2
  original http://www.dragonwake.com/download/LPC1768/Example/CAN/CAN.c
  simplified for CAN2 interface and std id (11 bit) only
 *--------------------------------------------*/
void CAN2_wrFilter (uint32_t id)  {
    static int CAN_std_cnt = 0;
    uint32_t buf0, buf1;
    int cnt1, cnt2, bound1;
 
    /* Acceptance Filter Memory full */
    if (((CAN_std_cnt + 1) >> 1) >= 512)
        return;                                       /* error: objects full */
 
    /* Setup Acceptance Filter Configuration
      Acceptance Filter Mode Register = Off  */
    LPC_CANAF->AFMR = 0x00000001;
 
    id |= 1 << 13;                        /* Add controller number(2) */
    id &= 0x0000F7FF;                            /* Mask out 16-bits of ID */
 
    if (CAN_std_cnt == 0)  {                     /* For entering first  ID */
        LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16);
    }  else if (CAN_std_cnt == 1)  {             /* For entering second ID */
        if ((LPC_CANAF_RAM->mask[0] >> 16) > id)
            LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16);
        else
            LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id;
    }  else  {
        /* Find where to insert new ID */
        cnt1 = 0;
        cnt2 = CAN_std_cnt;
        bound1 = (CAN_std_cnt - 1) >> 1;
        while (cnt1 <= bound1)  {                  /* Loop through standard existing IDs */
            if ((LPC_CANAF_RAM->mask[cnt1] >> 16) > id)  {
                cnt2 = cnt1 * 2;
                break;
            }
            if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000FFFF) > id)  {
                cnt2 = cnt1 * 2 + 1;
                break;
            }
            cnt1++;                                  /* cnt1 = U32 where to insert new ID */
        }                                          /* cnt2 = U16 where to insert new ID */
 
        if (cnt1 > bound1)  {                      /* Adding ID as last entry */
            if ((CAN_std_cnt & 0x0001) == 0)         /* Even number of IDs exists */
                LPC_CANAF_RAM->mask[cnt1]  = 0x0000FFFF | (id << 16);
            else                                     /* Odd  number of IDs exists */
                LPC_CANAF_RAM->mask[cnt1]  = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
        }  else  {
            buf0 = LPC_CANAF_RAM->mask[cnt1];        /* Remember current entry */
            if ((cnt2 & 0x0001) == 0)                /* Insert new mask to even address */
                buf1 = (id << 16) | (buf0 >> 16);
            else                                     /* Insert new mask to odd  address */
                buf1 = (buf0 & 0xFFFF0000) | id;
 
            LPC_CANAF_RAM->mask[cnt1] = buf1;        /* Insert mask */
 
            bound1 = CAN_std_cnt >> 1;
            /* Move all remaining standard mask entries one place up */
            while (cnt1 < bound1)  {
                cnt1++;
                buf1  = LPC_CANAF_RAM->mask[cnt1];
                LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
                buf0  = buf1;
            }
 
            if ((CAN_std_cnt & 0x0001) == 0)         /* Even number of IDs exists */
                LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | (0x0000FFFF);
        }
    }
    CAN_std_cnt++;
 
    /* Calculate std ID start address (buf0) and ext ID start address <- none (buf1) */
    buf0 = ((CAN_std_cnt + 1) >> 1) << 2;
    buf1 = buf0;
 
    /* Setup acceptance filter pointers */
    LPC_CANAF->SFF_sa     = 0;
    LPC_CANAF->SFF_GRP_sa = buf0;
    LPC_CANAF->EFF_sa     = buf0;
    LPC_CANAF->EFF_GRP_sa = buf1;
    LPC_CANAF->ENDofTable = buf1;
 
    LPC_CANAF->AFMR = 0x00000000;                  /* Use acceptance filter */
} // CAN2_wrFilter

void send() {
    pc.printf("send()\n\r");
    if(can1.write(CANMessage(CAN_ID, &counter, 1))) {
        pc.printf("wloop()\n\r");
        pc.printf("Message sent: %d with can ID: %d \n\r", counter, CAN_ID);
        if (CAN_ID < 3)
        {
            CAN_ID ++;   
        }
        else
        {
            CAN_ID = 1;
        }
    } 
    led1 = !led1;
}
 
int main() {
    pc.baud(921600);
    pc.printf("CAN_MONITOR 921600 bps\r\n");
 
    // 500kbit/s
    can1.frequency(500000);
    can2.frequency(500000);
    CANMessage can_MsgRx;
 
    CAN2_wrFilter(0x178);
    CAN2_wrFilter(0x1C4);
    CAN2_wrFilter(0x245);
    CAN2_wrFilter(0x3D3);
    CAN2_wrFilter(0x498);
    CAN2_wrFilter(0x4A6);
    //ticker.attach(&send, 1);
    int Yaw_Byte1, Yaw_Byte2, Yaw, Y_Acc_Byte1, Y_Acc_Byte2, Y_Acc, Roll_Byte1, Roll_Byte2, Roll, X_Acc_Byte1, X_Acc_Byte2, X_Acc, Z_Acc_Byte1, Z_Acc_Byte2, Z_Acc;
 
    while (1) {
        // send received messages to the pc via serial line
        if (can2.read(can_MsgRx)) {
            pc.printf("Can ID: %d, Message Length: %d", can_MsgRx.id, can_MsgRx.len);
            if(can_MsgRx.id == 372)
                {
                    Yaw_Byte1 = can_MsgRx.data[0];
                    Yaw_Byte2 = can_MsgRx.data[1]<<8; // shift right to normailse the second byte of data, same with others 
                    Y_Acc_Byte1 = can_MsgRx.data[4];
                    Y_Acc_Byte2 = can_MsgRx.data[5]<<8; //^
                }
                if(can_MsgRx.id == 376)
                {
                    Roll_Byte1 = can_MsgRx.data[0];
                    Roll_Byte2 = can_MsgRx.data[1]<<8; //^
                    X_Acc_Byte1 = can_MsgRx.data[4];
                    X_Acc_Byte2 = can_MsgRx.data[5]<<8; //^
                }
                if(can_MsgRx.id == 380)
                {
                    Z_Acc_Byte1 = can_MsgRx.data[4];
                    Z_Acc_Byte2 = can_MsgRx.data[5]<<8; //^
                }
                //Calculate actual data by adding both bytes and the offset anf then normalising
                Yaw = (Yaw_Byte1 + Yaw_Byte2 - 32768)*0.005;
                Y_Acc = (Y_Acc_Byte1 + Y_Acc_Byte2 - 32768)*0.0001274;
                Roll = (Roll_Byte1 + Roll_Byte2 - 32768)*0.005;
                X_Acc = (X_Acc_Byte1 + X_Acc_Byte2 - 32768)*0.0001274;
                Z_Acc = (Z_Acc_Byte1 + Z_Acc_Byte2 - 32768)*0.0001274;
               
                // show the id of the messege being read
                // print all of the data to pc serial
                pc.printf("Yaw: %d\n\r", Yaw); 
                pc.printf("Roll: %d\n\r", Roll); 
                pc.printf("Y_Acc: %d\n\r", Y_Acc); 
                pc.printf("X_Acc: %d\n\r", X_Acc); 
                pc.printf("Z_Acc: %d\n\r", Z_Acc);   
            pc.printf("\r\n");
            // toggle led2
            led2 = !led2;
        } // if
    } // while
} // main